//
// Created by 16933 on 2022/3/12.
//

#include "Cloud.h"
#include "cmsis_os.h"
#include "pid.h"
pid_type_def motor;
float PID[3] = {20,5,0};
float max_out = 16384;
float max_iout = 10000;
extern float speed;
int16_t current;
float speed_set = 500;
void cloud_desk_Task(void const * argument)
{

    for(;;)
    {

        PID_init(&motor,PID_POSITION,PID,max_out,max_iout);
        current = PID_calc(&motor,speed,speed_set);
        osDelay(1);
    }
}